DE102009045309B4 - Method and control device for operating a valve - Google Patents

Abstract

Method for operating a valve (18a) actuated by an actuator (26, 30), in particular a fuel injection valve of an internal combustion engine (10) of a motor vehicle, in which the actuator (26, 30) has a control variable (I) with a control duration (ET) is controlled, characterized in that the control period (ET) is formed as a function of a setpoint (t2 *) for a closing delay time (t2) of the valve (18a), which is a time difference between one end (tET1) of the control period (ET) and characterized a closing time (ts) of the valve (18a), wherein an actual value (t2actual) of the closing delay time (t2) is determined, in particular recorded by measurement, a control difference (.DELTA.t2, .DELTA.t) between the target value (t2 *) and the actual value (t2actual) ) is formed for the closing delay time (t2), and the setpoint (ET *) for the actuation period (ET) is modified depending on the control difference (Δt2).

Description

State of the art

The invention relates to a method for operating a valve actuated by an actuator, in particular a fuel injection valve of an internal combustion engine of a motor vehicle, in which the actuator is controlled with a control variable having a control duration.

The invention further relates to a control device for executing such a method.

Methods and control devices of the aforementioned type are used, for example, in high-pressure injection valves for gasoline direct injection, in which a movement of a valve needle is controlled, for example, by energizing a magnetic circuit. The magnetic circuit is part of an electromagnetic actuator that exerts a magnetic force on the valve needle when energized. Common types of high-pressure injection valves are designed so that the energization of the solenoid of the electromagnetic actuator causes the injection valve to open, that is to say to lift the valve needle out of its closed position and then to hold the valve needle at a stroke stop corresponding to its open position. At the end of the pollination, the magnetic force is first rapidly reduced in a manner known per se, so that a closing spring that acts on the valve needle in the closing direction accelerates the valve needle toward its closed position. The closing process ends when the valve needle reaches its valve seat. From this point on, the closing spring force no longer acts as an accelerator on the valve needle, but only as a sealing force that transfers the valve needle to your valve seat.

In addition to the flight course of the valve needle and the lift throttle curve of the valve, the fuel quantity injected in the above-described control process is mainly determined by an opening duration of the valve, that is to say by the time interval between the lifting of the valve needle from its closed position and the re-reaching of its closed position.

Usually, however, the hydraulic opening time of the valve is not known directly in a control unit controlling the valve, but rather only a control time of the actuator driving the valve needle. There is a so-called opening delay time between the beginning of the activation period and the actual hydraulic opening of the injection valve, and the so-called closing delay time lies between an end of the activation period and the actual hydraulic closing time of the injection valve.

These delay times of the valve are not known, but rather depend on the operating and setting parameters of the valve and other boundary conditions. The metering accuracy of the conventional systems is inadequate in particular in the case of very short desired opening times of the valve, in which the valve needle does not even reach a stroke stop corresponding to its fully open position, but rather performs a ballistic trajectory.

From the DE 10 2007 062 279 A1 A method for operating an internal combustion engine with a fuel injection device is known. The amount of fuel injected depends on the injection duration of the fuel injector. The time interval between an actuation end and the actual injection end is used as the control variable. This variable, which corresponds to a valve element closing time, is adjusted by shifting the start of control so that the difference between an actual injection end and a target injection end is minimal.

The DE 10 2005 002 242 A1 shows a method for operating a fuel injection device. The start and end of spraying are each regulated to a setpoint.

Disclosure of the invention

The present invention improves methods and control devices of the type mentioned at the outset in such a way that a more precise injection is possible.

This is achieved according to the invention in a method of the type mentioned at the outset in that the activation period is formed as a function of a setpoint for a closing delay time of the valve, which characterizes a time difference between an end of the activation period and a closing time of the valve.

According to the invention, it has been recognized that consideration of the setpoint for the closing delay time enables a precise metering of a fluid to be injected, in particular also in an operating range of the injection valve in which the valve needle executes an essentially ballistic trajectory.

It is provided that an actual value of the closing delay time is determined, in particular measured, that a control difference is formed between the target value and the actual value for the closing delay time, and that the target value for the actuation duration is modified as a function of the control difference.

Investigations by the applicant have shown that by using such a control concept, a precision in the injection of a fluid can be significantly increased, particularly in the ballistic operating range of the injection valve or its valve needle. By taking into account the control difference according to the invention, which also includes the actual value of the closing delay time, there is advantageously the possibility of modifying the actuation signal, in particular the actuation duration, for the operation of the valve in such a way that time-varying closing delay times can also be countered, in particular, for example, by a Change of the actual (target) control duration of the valve.

The operating method according to the invention can advantageously be used to operate valves in which a component driven by the actuator, in particular a valve needle, at least partially performs a ballistic trajectory as a result of activation with the activation variable.

The operating method according to the invention can be used particularly advantageously in so-called directly operated injection valves, in which an actuator, for example an electromagnetic actuator, acts directly on the valve needle, as is often the case, for example, in gasoline direct injection systems.

The operating method according to the invention can also be applied to those injection valves in which an actuator, for example an electromagnetic actuator, does not act directly on the valve needle, but rather the valve needle is driven, for example, by means of a control valve arranged between the electromagnetic actuator and the valve needle and a corresponding hydraulic action chain , Such injectors are currently widely used in common rail diesel injection systems.

A control device according to claim 8 is specified as a further aspect of the present invention.

Also of particular importance is the implementation of the method according to the invention in the form of a computer program.

Further advantageous embodiments of the invention are the subject of the dependent claims.

Further advantages, features and details emerge from the following description, in which various exemplary embodiments of the invention are illustrated with reference to the drawing. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination.

• 1 eine schematische Darstellung einer Brennkraftmaschine mit mehreren erfindungsgemäß betriebenen Einspritzventilen,
• 2a bis 2c schematisch eine Detailansicht eines Einspritzventils aus 1 in drei unterschiedlichen Betriebszuständen,
• 3a ein Funktionsdiagramm zur Bildung einer Ansteuerdauer gemäß einem herkömmlichen Verfahren,
• 3b einen zeitlichen Verlauf von Betriebsgrößen eines herkömmlich betriebenen Einspritzventils,
• 4a ein Funktionsdiagramm einer ersten Ausführungsform des erfindungsgemäßen Betriebsverfahrens,
• 4b ein Funktionsdiagramm einer zweiten Ausführungsform des erfindungsgemäßen Betriebsverfahrens, und
• 5a, 5b, 5c verschiedene Betriebszustände eines ein Steuerventil aufweisenden Einspritzventils zur Ausführung des erfindungemäßen Betriebsverfahrens.

The drawing shows:

• 1 1 shows a schematic illustration of an internal combustion engine with a plurality of injection valves operated according to the invention,
• 2a to 2c schematically a detailed view of an injection valve from 1 in three different operating states,
• 3a 1 shows a functional diagram for forming a triggering period according to a conventional method,
• 3b a time course of operating variables of a conventionally operated injection valve,
• 4a 2 shows a functional diagram of a first embodiment of the operating method according to the invention,
• 4b a functional diagram of a second embodiment of the operating method according to the invention, and
• 5a . 5b . 5c Various operating states of an injection valve having a control valve for executing the operating method according to the invention.

An internal combustion engine carries in 1 overall the reference symbol 10 , It includes a tank 12 , from which a conveyor system 14 Fuel into a distribution system 16 supports, which is, for example, a common rail. At this are several electromagnetically actuated injection valves 18a to 18d connected to the fuel directly associated with combustion chambers in them 20a to 20d inject. Operation of the internal combustion engine 10 is operated by a control and regulating device 22 controlled or regulated, among other things, the injection valves 18a to 18d controls.

The 2a to 2c schematically show the injection valve 18a according to 1 in a total of three different operating states. The others in 1 pictured injectors 18b . 18c . 18d have a corresponding structure and functionality.

The injector 18a has an electromagnetic actuator that has a magnetic coil 26 and one with the solenoid 26 interacting magnetic armature 30 has. The magnetic anchor 30 is like this with a valve pin 28 of the injector 18a connected that he referred to one in 2a vertical direction of movement of the valve needle 28 with a non-vanishing mechanical play relative to the valve needle 28 is movable.

This results in a two-part mass system 28 . 30 which drives the valve needle 28 through the electromagnetic actuator 26 . 30 causes. This two-part configuration makes the fuel injector mountable 18a improved and an undesirable bouncing back of the valve needle 28 when hitting their valve seat 38 is reduced.

In the present in 2a The configuration illustrated is the axial play of the armature 30 on the valve pin 28 by two stops 32 and 34 limited. At least the one in 2a lower stop 34 however, could also pass through an area of the injector housing 18a be realized.

The valve needle 28 is from a valve spring 36 as in 2a shown with a corresponding spring force against the valve seat 38 in the area of the housing 40 applied. In 2a is the injector 18a shown in its closed state, in which no fuel injection takes place.

To effect fuel injection, the actuator 26 . 30 acted upon by a drive current over a predefinable drive duration. By energizing the solenoid 26 becomes the magnet armature 30 in 2 B moved upwards so that it engages in the stop 32 the valve needle 28 against the spring force from their valve seat 38 moved out. This can cause fuel 42 from the injector 18a in the combustion chamber 20a ( 1 ) are injected, cf. 2c ,

Once the solenoid is energized 26 through the control unit 22 ( 1 ) at the end of the specified activation period, the valve needle moves 28 under the influence of the valve spring 36 exerted spring force back on their valve seat 38 increases and increases the magnet armature 30 With. A power transmission from the valve needle 28 on the magnet armature 30 again takes place through the upper stop 32 ,

If the valve needle 28 their closing movement upon hitting the valve seat 38 finished, the magnetic armature can 30 due to the axial play in 2c continue moving down until it hits the second stop 34 is applied. This corresponds to that in 2a Pictured closed state of the injection valve 18a ,

In order to achieve particularly low injection quantities, the activation period is used to energize the actuator 26 . 30 preferably chosen so short that the valve needle 28 or the magnetic armature entraining them in the opening direction 30 does not at all reach an upper stroke stop which limits the opening movement, which in the present case by an in 2c lower end of the substantially coaxial in the solenoid 26 arranged iron core 26a is formed. The valve needle 28 or the magnet armature 30 Accordingly, perform a ballistic trajectory during the opening of the injection valve 18a , In the present case, the magnetic armature 30 according to 2c at its upper reversal point a non-vanishing stroke distance Δh from the upper stroke stop 26a on.

Compared to a full-stroke control, in which the valve needle 28 or the magnet armature 30 first safely the upper stroke stop 26a reach (ie stroke distance Δh = 0), there are considerable fluctuations with short activation times in the ballistic area (reversal point with Δh> 0), in particular with regard to a closing delay time, which is a period between the end of the activation period and an actual closing time of the valve 18a characterized. That below with reference to the 4a . 4b The inventive method described enables a significant increase in the precision in the injection of small amounts of fuel, which - in contrast to the full-stroke range - enables ballistic operation of the injection valve 18a require.

3b shows schematically a time course of the operating variables drive current I, stroke h of the valve needle 28 ( 2a) as it arises during a drive cycle in the context of a fuel injection.

First, at time t _ET0, the electromagnetic actuator 26 . 30 of the injector 18a energized to lift the magnet armature 30 and with it the valve needle 28 from your valve seat 38 to enable. The time t _ET0 thus defines a start of the control _duration ET of the electromagnetic actuator defined by the control _signal I 26 . 30 and with it the injector 18a ,

3a shows an example of a simplified function diagram for determining the activation duration ET of the activation signal I ( 3b) ,

In a first function block implemented, for example by means of a map 201 is the amount of fuel to be injected in a conventional operating method depending on the operating variables Q _should , Fuel pressure p _is the control duration ET for the control of the electromagnetic actuator 26 . 30 with a corresponding current I ( 3b) determined.

The disturbance variables occur when the actuator is activated 26 . 30 ( 2a) of the injector 18a with the control variable I determined in a conventional manner and representing the control duration ET the delay times t11, t2 described in more detail below to the conventionally determined actuation duration ET, so that there is an actual opening time T _op = ET-t11 + t2 for the injection valve 18a results. Any tolerances that may occur in the high-pressure hydraulic system of the injection valve 18a are in 3a through the function block 18a ' symbolizes. Because of the control described above with the real control signal Top and at the given fuel pressure p _is in the conventional system, the quantity of fuel Qist actually injected is obtained at the output of the functional block 18a ' , which is usually different from the amount of fuel to be injected Q _should ,

3b shows a time course of the needle strokes h of the valve needle 28 ( 2a) as it results under control with the control signal I.

The valve needle starts due to the inertia, friction effects and other disturbing effects 28 ( 2a) only after the electrical start of control T _ET0 , namely at the time t _öff , with its opening process, whereby you are in 2 B . 2c from bottom to top, i.e. out of your closed position. The valve needle is only at the time t _ET0 + t1 28 like from 3b a target needle stroke hsoll corresponding to the control signal I can be seen. Due to a non-vanishing closing delay t2, which is a period between the end t _ET1 the activation duration ET and the actual hydraulic closing at the time t _s is also after the end t _ET1 the control duration ET still fuel through the injection valve 18a injected.

As already described above, the closing delay time t2 is not constant, in particular for very short actuation durations ET. Especially in the purely ballistic operation in which the valve needle 28 during their opening process not their stroke stop representing a maximum opening 26a reached in the area of the iron core, the closing delay time t2 can take on extremely different values, among other things from the movement variables of the valve needle 28 before the time t _ET1 , that is, the end of the actuation period ET, and depend on a closing spring force, magnetic force, rail pressure, actuation period, temperature, return counterpressure and / or other variables.

According to the invention, the control duration ET is therefore proposed as a function of a setpoint t2 * for the closing delay time t2 of the valve 18a form, the closing delay time t2, as already described, a time difference between the end t _ET1 the control duration ET and the actual hydraulic closing time ts of the valve 18a characterized.

4a shows a functional diagram of a corresponding first embodiment of the method according to the invention.

By means of a first map KF1, depending on the target injection quantity Q _should and depending on the fuel pressure p _is a setpoint ET * is determined for the activation period.

According to the invention, the setpoint ET * for the activation period is determined by means of a correction value t _corr [n-1] corrects what is present by adding the size t _corr [n-1] to the setpoint ET * by means of the adder a_1. The control duration ET corrected according to the invention is present at the output of the adder a_1. The signal ET acts according to 4a to the functional block representing the injection valve 18a ,

Using a second map KF2, the input variables Q _should . p _is receive a setpoint t2 * for the closing delay time t2. At the same time, the actual value t2actual of the closing delay time t2 is ascertained, for example by means of a measuring technology 3b) analyzed.

With the aid of the adder a_2, a control difference Δt2 = t2 * - t2ist is formed.

The control difference .DELTA.t2 is then in the function block R11 with a predefinable correction factor K multiplied, with a preferred range of values for the correction factor K is between 0 and 2, in particular between 0 and 1.

The function block R11 is, just like the adder a_3 following it and the further adder downstream of the adder a_3 and in 4a Function block, not specified, is part of a first controller structure according to the invention R1 , which forms the correction variable t _corr [n-1] as a function of the control difference Δt2.

Accordingly, a correction value for a subsequent injection cycle of the injection valve is present at the output of the adder a_3 18a which is calculated as follows: $${\text{t}}_{\text{corr}}\left[\text{n}\right]={\text{t}}_{\text{corr}}\left[\text{n}-\text{1}\right]+\text{K}*\mathrm{\Delta }\text{t2},$$

That means the controller structure considered here R1 is designed as a simple digital controller with integral characteristics, which allows a less complex implementation of the principle according to the invention. Alternatively or additionally, other controller structures can also be used to implement the inventive principle To form correction quantity t _corr [n] as a function of the control difference Δt2.

In particular, controller structures with proportional-integral characteristics, proportional characteristics, or non-linear controllers can also be used. The formation of the correction value as a function of the control difference Δt2 is essential for the function of the principle according to the invention.

According to a particularly preferred embodiment, the function block downstream of the adder a_3 and not described in more detail here has a clock input to which a speed-synchronous clock signal CLK is supplied, so that the correction value formed according to the invention can also be passed on to the adder a_1 in a speed-synchronous manner.

In the 4a The illustrated controller structure according to the invention advantageously enables regulation of the closing delay time t2 of the injection valve 18a and thus a particularly precise injection of even small amounts of fuel in a ballistic operating mode of the injection valve 18a ,

4b shows a functional diagram of a further embodiment of the method according to the invention. In addition to that already referring to 4a described basic structure has the embodiment according to 4b a second controller structure R2 which takes into account the setpoint ET * for the control duration ET and the activation duration ET itself provides. For this, the sizes ET * . ET by functional blocks with a first weighting factor, which are not identified in the present case G1 and a second weighting factor G2 weighted before going over the adders a_21 . a_22 the setpoint t2 * for the closing delay time t2 or the actual value t2act for the closing delay time t2.

The adder a_2 then determines one of those already mentioned above in the context of 4a described control difference .DELTA.t2 comparable size .DELTA.t, which is the input variable for the controller structure according to the invention R2 serves.

The following applies to the input variable Δt: $$\mathrm{\Delta }\text{t}=\left(\text{t2}*+\text{G1}*\text{ET}*\right)-\left({\text{t2}}_{\text{is}}+\text{G2}*\text{ET}\right),$$

For the weighting factors G1 . G2 a value range from 0 to about 1 is again provided.

Once the in the 4a . 4b provided rule structures R1 . R2 have reached a steady state, which is characterized by a vanishing control difference .DELTA.t2, .DELTA.t t _corr be adjusted. In this case, the correction value supplied to the adder a_1 is to be set to zero at the same time, since the correction value has already been taken into account by adapting the map KF1.

The value of the correction factor K between 0 and 1 is particularly preferably selected. In exceptional cases, an expansion of the value range to 0 <K <2 is also possible, the factor K being the settling speed of the control loop R1 . R2 certainly.

A value for K in the range of about 1 is advantageous for a fast transient response. If necessary, the robustness of the control loop against interference signals can be increased by lowering the factor K. For example, with a value of K = 0.5, increased robustness with respect to interference signals can be achieved without any noteworthy compromises in the control dynamics of the controller according to the invention R1 . R2 to have to do. In the event of a control deviation, the controller according to the invention R1 . R2 in investigations by the applicant after only about 4 working cycles of the injection valve 18a ( 2a) more than 90% steady.

The controller structures according to the invention R1 . R2 are characterized by a particularly low level of complexity, which requires little application effort and which contributes to the robustness of the system.

Above is with reference to the in the 2a . 2 B . 2c Illustrated injector type, which is a direct actuated injector 18a the method according to the invention has been described.

The method according to the invention can also be used particularly advantageously in the case of injection valves which are not directly driven, that is to say, for example, in those injection valves in which an electromagnetic actuator actuates a component of a control valve and in which there is an essentially hydraulic or mechanical chain of action between the control valve and the valve needle.

5a to 5c shows an embodiment of an injection valve provided for fuel injection 100 of a diesel common rail fuel injection system of an internal combustion engine in various operating states of an injection cycle.

1a shows the injector 100 in its idle state, in which it is not by the control unit assigned to it 22 is controlled. A solenoid valve spring 111 presses a valve ball 105 in a designated seat of the flow restrictor 112 , so that in the valve control room 106 can build up a fuel pressure corresponding to the rail pressure, as it does in the area of the high pressure connection 113 prevails.

The rail pressure is also in the chamber volume 109 the valve needle 116 of the injector 100 surrounds. The by the rail pressure on the end face of the control piston 115 applied forces and the force of the nozzle spring 107 hold the valve needle 116 against an opening force on the pressure shoulder 108 the valve needle 116 attacks, closed.

1b shows the injector 100 in its open state, which it is under the control of the control unit 22 in the following way starting from the in 5a pictured hibernation assumes the present by the in 5a designated solenoid 102 and the one with the solenoid 102 interacting magnetic armature 104 formed electromagnetic actuator 102 . 104 is through the control unit 22 acted upon with a drive current I forming a drive signal in order to open the solenoid valve, which in the present case functions as a control valve 104 . 105 . 112 to effect. The magnetic force of the electromagnetic actuator 102 . 104 here exceeds the spring force of the valve spring 111 ( 5a) so that the magnet armature 104 the valve ball 105 lifts off your valve seat and thereby the discharge throttle 112 opens.

With the opening of the flow restrictor 112 can now fuel from the valve control room 106 in accordance with 5b cavity above, compare the arrows, and via a fuel return 101 drain back to a fuel tank, not shown. The inlet throttle 114 prevents a complete pressure equalization between that in the area of the high pressure connection 113 applied rail pressure and the pressure in the valve control room 106 so that the pressure in the valve control room 106 sinks. This causes the pressure in the valve control room 106 becomes smaller than the pressure in the comb volume 109 , which still corresponds to the rail pressure. The reduced pressure in the valve control room 106 causes a correspondingly reduced force on the control piston 115 and thus leads to the opening of the injection valve 100 , that is, to lift the valve needle 116 from your valve needle seat in the area of the spray holes 110 , This operating state is in 5b illustrated.

Then, that is after lifting off the valve needle seat, the valve needle executes 116 primarily under the influence of the hydraulic forces in the chamber volume 119 and in the valve control room 106 an essentially ballistic trajectory.

As soon as the electromagnetic actuator 102 . 104 ( 5a) no longer by the control unit at the end of the activation period 22 is actuated, the valve spring presses 111 the magnetic armature 104 as in 5c shown down so that the valve ball 105 then the flow restrictor 112 closes. This reverses the direction of movement of the valve needle 116 around so that it is returned to its closed position.

The fuel injection is finished as soon as the valve needle 116 Your valve needle seat in the area of the spray holes 110 reached and closes it, compare 5c ,

Also for that in the 5a to 5c pictured and described injection valve, which is via a control valve 104 . 105 . 112 is actuated, the method according to the invention of correcting the activation duration can be carried out as a function of a setpoint for the closing delay time.

The injector's electromagnetic actuator 100 can be driven, for example, with a drive signal I that leads to the one in 3b the course shown has a comparable course.

Accordingly, the injection valve also results 100 Closing delay times. Contrary to the closing delay of the referring to the 2a to 2c described injector 18a includes the closing delay time for the injector 100 according to 5a under certain circumstances, however, there may be other time components that are not explained in more detail here, which are characterized by various changes in state or other processes occurring between the electromagnetic actuator 102 . 104 and the valve pin 116 existing electromechanical or hydraulic chain of effects.

In any case, also for the injection valve 100 according to 5a a closing delay time can be defined as the time between the end of the activation period ET ( 3b) and an actual hydraulic closing time at which the valve needle 116 Your closed position in the area of the spray holes 110 resumes. For the application of the principle according to the invention to the injection valve 100 according to 5a it is necessary to determine the actual hydraulic closing time, which can be done, for example, by acceleration and / or knock sensors or the like, which detects the impact of the valve needle 116 in your closed position in the area of the spray holes 110 enable.

The principle according to the invention can also be applied separately to the control valve 104 . 105 . 112 of in 5a pictured injector 100 applied, which is useful, for example, when there is a strong correlation between the changes in state of the control valve and the valve needle 116 is given and therefore it can be assumed that regulating the closing delay time of the control valve according to the invention alone enables a sufficiently precise injection.

In general, the principle according to the invention is suitable for increasing the precision in fluid metering by means of in particular ballistic operated injection valves and is not restricted to fuel injection valves. Scattering of pieces can also be compensated very advantageously by using the operating method according to the invention.

The control principle according to the invention can advantageously also be used if an injection valve is only temporarily, i.e. is operated ballistically only in some operating cycles.

The determination of the actual closing delay time t2 is ( 4a) Depending on the configuration of the injection valve in question, it can be determined, for example, from a time curve of the control current I ( 3b) and / or a voltage applied to the electromagnetic actuator.

Sensor data from separate sensor means such as structure-borne noise sensors or acceleration sensors can also be evaluated to provide information about an actual operating state of components 28 . 105 . 116 of the injector.

Claims (10)

Method for operating a valve (18a) actuated by an actuator (26, 30), in particular a fuel injection valve of an internal combustion engine (10) of a motor vehicle, in which the actuator (26, 30) has a control variable (I) with a control duration (ET) is controlled, characterized in that the control duration (ET) is formed as a function of a setpoint (t2 *) for a closing delay time (t2) of the valve (18a), which is a time difference between one end (tET1) of the control duration (ET) and a closing time (ts) of the valve (18a), wherein an actual value (t2actual) of the closing delay time (t2) is determined, in particular recorded by measurement, a control difference (.DELTA.t2, .DELTA.t) between the target value (t2 *) and the actual value (t2actual) ) is formed for the closing delay time (t2), and the setpoint (ET *) for the actuation duration (ET) is modified as a function of the control difference (Δt2). Procedure according to Claim 1 , characterized in that a setpoint (ET *) for the actuation duration (ET) is modified in dependence on the setpoint (t2 *) for the closing delay time (t2) in order to obtain the actuation duration (ET). Procedure according to Claim 2 , characterized in that both the setpoint (t2 *) for the closing delay time (t2) and the setpoint (ET *) for the actuation duration (ET) as a function of a setpoint injection quantity (Qsoll) and at least one operating variable of the valve (18a) , in particular as a function of a fuel pressure (pist). Procedure according to Claim 3 , characterized in that the control difference (Δt2) is multiplied by a feedback factor (K) which has a value range from K = 0 to K = 2, in particular up to K = 1. Procedure according to one of the Claims 3 to 4 , characterized in that by means of a controller structure (R1, R2) from the control difference (Δt2) a correction variable for modifying the setpoint (ET *) for the control period (ET) is formed, the controller structure (R1, R2) in particular having a controller Has integral part. Procedure according to one of the Claims 3 to 5 , characterized in that when the control difference (Δt) is formed, the setpoint (ET *) for the actuation duration (ET), in particular weighted by a predeterminable weighting factor (G1), is taken into account, in particular by adding a weighted by the weighting factor (G1) Setpoint (ET *) to the setpoint (t2 *) for the closing delay time (t2). Method according to one of the preceding claims, characterized in that it is used to operate valves (18a) in which a component (28), in particular a valve needle, driven by the actuator (26, 30) as a result of activation with the activation variable ( I) at least partially performs a ballistic trajectory. Control device (22) for operating a valve (18a) actuated by an actuator (26, 30), in particular a fuel injection valve of an internal combustion engine (10) of a motor vehicle, characterized in that it is designed to carry out the method according to one of the preceding claims. Computer program with program code means to carry out all steps of the method according to one of the Claims 1 to 7 to be carried out when the computer program on a computer or a corresponding computing unit, in particular in a control unit (22) according to Claim 8 , is performed. Computer program product with program code means, which are stored on a computer readable data carrier, for all steps of the method according to one of the Claims 1 to 7 to be carried out when the computer program on a computer or a corresponding computing unit, in particular in a control unit (22) according to Claim 8 , is performed.

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